private void StartDobot()
{
StringBuilder fwType = new StringBuilder(60);
StringBuilder version = new StringBuilder(60);
int ret = DobotDll.ConnectDobot("", 115200, fwType, version);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
Msg("Connect error", MsgInfoType.Error);
MessageBox.Show("Connect Error!");
return;
}
Msg("Connect success", MsgInfoType.Info);
MessageBox.Show("Connect Success!");
isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Must set when sensor is not exist
//DobotDll.ResetPose(true, 45, 45);
// Get name
string deviceName = "Dobot Magician";
DobotDll.SetDeviceName(deviceName);
StringBuilder deviceSN = new StringBuilder(64);
DobotDll.GetDeviceName(deviceSN, 64);
StartGetPose();
// SetParam();
//EIOTest();
//ARCTest();
// AlarmTest();
EndTypeParams e = new EndTypeParams();
DobotDll.GetEndEffectorParams(ref e);
MessageBox.Show(e.xBias.ToString() + " " + e.yBias.ToString() + " " + e.zBias.ToString());
}